def draw_path(self, gc, path, transform, rgbFace=None): path = transform.transform_path(path) points = path.vertices codes = path.codes bbox = gc.get_clip_rectangle() if bbox is not None: x, y, w, h = bbox.bounds clrt = np.array([x, x + w, y, y + h]) else: clrt = np.array([0, self.width, 0, self.height]) gr.setviewport(*clrt / self.size) gr.setwindow(*clrt) if rgbFace is not None and len(points) > 2: color = gr.inqcolorfromrgb(rgbFace[0], rgbFace[1], rgbFace[2]) gr.settransparency(rgbFace[3]) gr.setcolorrep(color, rgbFace[0], rgbFace[1], rgbFace[2]) gr.setfillintstyle(gr.INTSTYLE_SOLID) gr.setfillcolorind(color) gr.drawpath(points, codes, fill=True) lw = gc.get_linewidth() if lw != 0: rgba = gc.get_rgb()[:4] color = gr.inqcolorfromrgb(rgba[0], rgba[1], rgba[2]) gr.settransparency(rgba[3]) gr.setcolorrep(color, rgba[0], rgba[1], rgba[2]) if isinstance(gc._linestyle, str): gr.setlinetype(linetype[gc._linestyle]) gr.setlinewidth(lw) gr.setlinecolorind(color) gr.drawpath(points, codes, fill=False)
def _draw_legend(): global _plt viewport = _plt.kwargs['viewport'] num_labels = len(_plt.kwargs['labels']) location = _plt.kwargs.get('location', 1) gr.savestate() gr.selntran(0) gr.setscale(0) w = 0 for label in _plt.kwargs['labels']: tbx, tby = gr.inqtextext(0, 0, label) w = max(w, tbx[2]) num_lines = len(_plt.args) h = (num_lines + 1) * 0.03 if location in (8, 9, 10): px = 0.5 * (viewport[0] + viewport[1] - w) elif location in (2, 3, 6): px = viewport[0] + 0.11 else: px = viewport[1] - 0.05 - w if location in (5, 6, 7, 10): py = 0.5 * (viewport[2] + viewport[3] + h) - 0.03 elif location in (3, 4, 8): py = viewport[2] + h else: py = viewport[3] - 0.06 gr.setfillintstyle(gr.INTSTYLE_SOLID) gr.setfillcolorind(0) gr.fillrect(px - 0.08, px + w + 0.02, py + 0.03, py - 0.03 * num_lines) gr.setlinetype(gr.LINETYPE_SOLID) gr.setlinecolorind(1) gr.setlinewidth(1) gr.drawrect(px - 0.08, px + w + 0.02, py + 0.03, py - 0.03 * num_lines) i = 0 gr.uselinespec(" ") for (x, y, z, c, spec) in _plt.args: gr.savestate() mask = gr.uselinespec(spec) if mask in (0, 1, 3, 4, 5): gr.polyline([px - 0.07, px - 0.01], [py, py]) if mask & 2: gr.polymarker([px - 0.06, px - 0.02], [py, py]) gr.restorestate() gr.settextalign(gr.TEXT_HALIGN_LEFT, gr.TEXT_VALIGN_HALF) if i < num_labels: gr.textext(px, py, _plt.kwargs['labels'][i]) i += 1 py -= 0.03 gr.selntran(1) gr.restorestate()
def _draw_axes(kind, pass_=1): global _plt viewport = _plt.kwargs['viewport'] vp = _plt.kwargs['vp'] x_tick, x_org, x_major_count = _plt.kwargs['xaxis'] y_tick, y_org, y_major_count = _plt.kwargs['yaxis'] gr.setlinecolorind(1) gr.setlinewidth(1) diag = ((viewport[1]-viewport[0])**2 + (viewport[3]-viewport[2])**2)**0.5 charheight = max(0.018 * diag, 0.012) gr.setcharheight(charheight) ticksize = 0.0075 * diag if kind in ('wireframe', 'surface', 'plot3', 'scatter3', 'trisurf'): z_tick, z_org, z_major_count = _plt.kwargs['zaxis'] if pass_ == 1: gr.grid3d(x_tick, 0, z_tick, x_org[0], y_org[0], z_org[0], 2, 0, 2) gr.grid3d(0, y_tick, 0, x_org[1], y_org[0], z_org[0], 0, 2, 0) else: gr.axes3d(x_tick, 0, z_tick, x_org[0], y_org[0], z_org[0], x_major_count, 0, z_major_count, -ticksize) gr.axes3d(0, y_tick, 0, x_org[1], y_org[0], z_org[0], 0, y_major_count, 0, ticksize) else: if kind == 'heatmap': ticksize = -ticksize else: gr.grid(x_tick, y_tick, 0, 0, x_major_count, y_major_count) gr.axes(x_tick, y_tick, x_org[0], y_org[0], x_major_count, y_major_count, ticksize) gr.axes(x_tick, y_tick, x_org[1], y_org[1], -x_major_count, -y_major_count, -ticksize) if 'title' in _plt.kwargs: gr.savestate() gr.settextalign(gr.TEXT_HALIGN_CENTER, gr.TEXT_VALIGN_TOP) gr.textext(0.5*(viewport[0] + viewport[1]), vp[3], _plt.kwargs['title']) gr.restorestate() if kind in ('wireframe', 'surface', 'plot3', 'scatter3', 'trisurf'): x_label = _plt.kwargs.get('xlabel', '') y_label = _plt.kwargs.get('ylabel', '') z_label = _plt.kwargs.get('zlabel', '') gr.titles3d(x_label, y_label, z_label) else: if 'xlabel' in _plt.kwargs: gr.savestate() gr.settextalign(gr.TEXT_HALIGN_CENTER, gr.TEXT_VALIGN_BOTTOM) gr.textext(0.5 * (viewport[0] + viewport[1]), vp[2] + 0.5 * charheight, _plt.kwargs['xlabel']) gr.restorestate() if 'ylabel' in _plt.kwargs: gr.savestate() gr.settextalign(gr.TEXT_HALIGN_CENTER, gr.TEXT_VALIGN_TOP) gr.setcharup(-1, 0) gr.textext(vp[0] + 0.5 * charheight, 0.5 * (viewport[2] + viewport[3]), _plt.kwargs['ylabel']) gr.restorestate()
def drawGR(self): if self.linetype is not None and self.x: # preserve old values lcolor = gr.inqlinecolorind() gr.setlinewidth(2) gr.setlinecolorind(self.linecolor) for xi, yi in zip(self.x, self.y): gr.polyline([xi, xi], [0, yi]) # restore old values gr.setlinecolorind(lcolor) gr.setlinewidth(1)
def drawGR(self): lwidth = gr.inqlinewidth() gr.setlinewidth(0.) PlotAxes.drawGR(self) if self.drawxylines: xmin, xmax, ymin, ymax = self.getWindow() linecolor = gr.inqlinecolorind() gr.setlinecolorind(self.xylinecolor) for xpos in self.xlines: gr.polyline([xpos, xpos], [ymin, ymax]) for ypos in self.ylines: gr.polyline([xmin, xmax], [ypos, ypos]) gr.setlinecolorind(linecolor) gr.setlinewidth(lwidth)
def pendulum(t, theta, omega, acceleration): gr.clearws() gr.setviewport(0, 1, 0, 1) x = [0.5, 0.5 + np.sin(theta) * 0.4] y = [0.8, 0.8 - np.cos(theta) * 0.4] # draw pivot point gr.fillarea([0.46, 0.54, 0.54, 0.46], [0.79, 0.79, 0.81, 0.81]), gr.setlinecolorind(1) gr.setlinewidth(2) gr.polyline(x, y) # draw rod gr.setmarkersize(5) gr.setmarkertype(gr.MARKERTYPE_SOLID_CIRCLE) gr.setmarkercolorind(86) gr.polymarker([x[1]], [y[1]]) # draw bob gr.setlinecolorind(4) V = 0.05 * omega # show angular velocity gr.drawarrow(x[1], y[1], x[1] + V * np.cos(theta), y[1] + V * np.sin(theta)) gr.setlinecolorind(2) A = 0.05 * acceleration # show angular acceleration gr.drawarrow(x[1], y[1], x[1] + A * np.sin(theta), y[1] + A * np.cos(theta)) gr.settextfontprec(2, gr.TEXT_PRECISION_STRING) gr.setcharheight(0.032) gr.settextcolorind(1) gr.textext(0.05, 0.95, 'Damped Pendulum') gr.setcharheight(0.040) gr.mathtex(0.4, 0.22, '\\omega=\\dot{\\theta}') gr.mathtex(0.4, 0.1, '\\dot{\\omega}=-\\gamma\\omega-\\frac{g}{l}sin(\\theta)') gr.setcharheight(0.028) gr.textext(0.05, 0.22, 't:%7.2f' % t) gr.textext(0.05, 0.16, '\\theta:%7.2f' % (theta / np.pi * 180)) gr.settextcolorind(4) gr.textext(0.05, 0.10, '\\omega:%7.2f' % omega) gr.settextcolorind(2) gr.textext(0.05, 0.04, 'y_{A}:%6.2f' % acceleration) gr.updatews()
def pendulum(t, theta, omega, acceleration): gr.clearws() gr.setviewport(0, 1, 0, 1) x = [0.5, 0.5 + sin(theta) * 0.4] y = [0.8, 0.8 - cos(theta) * 0.4] # draw pivot point gr.fillarea([0.46, 0.54, 0.54, 0.46], [0.79, 0.79, 0.81, 0.81]), gr.setlinecolorind(1) gr.setlinewidth(2) gr.polyline(x, y) # draw rod gr.setmarkersize(5) gr.setmarkertype(gr.MARKERTYPE_SOLID_CIRCLE) gr.setmarkercolorind(86) gr.polymarker([x[1]], [y[1]]) # draw bob gr.setlinecolorind(4) V = 0.05 * omega # show angular velocity gr.drawarrow(x[1], y[1], x[1] + V*cos(theta), y[1] + V*sin(theta)) gr.setlinecolorind(2) A = 0.05 * acceleration # show angular acceleration gr.drawarrow(x[1], y[1], x[1] + A*sin(theta), y[1] + A*cos(theta)) gr.settextfontprec(2, gr.TEXT_PRECISION_STRING) gr.setcharheight(0.032) gr.settextcolorind(1) gr.textext(0.05, 0.95, 'Damped Pendulum') gr.setcharheight(0.040) gr.mathtex(0.4, 0.22, '\\omega=\\dot{\\theta}') gr.mathtex(0.4, 0.1, '\\dot{\\omega}=-\\gamma\\omega-\\frac{g}{l}sin(\\theta)') gr.setcharheight(0.028) gr.textext(0.05, 0.22, 't:%7.2f' % t) gr.textext(0.05, 0.16, '\\theta:%7.2f' % (theta / pi * 180)) gr.settextcolorind(4) gr.textext(0.05, 0.10, '\\omega:%7.2f' % omega) gr.settextcolorind(2) gr.textext(0.05, 0.04, 'y_{A}:%6.2f' % acceleration) gr.updatews()
def _draw_legend(): global _plt viewport = _plt.kwargs['viewport'] num_labels = len(_plt.kwargs['labels']) gr.savestate() gr.selntran(0) gr.setscale(0) w = 0 for label in _plt.kwargs['labels']: tbx, tby = gr.inqtextext(0, 0, label) w = max(w, tbx[2]) px = viewport[1] - 0.05 - w py = viewport[3] - 0.06 gr.setfillintstyle(gr.INTSTYLE_SOLID) gr.setfillcolorind(0) gr.fillrect(px - 0.08, px + w + 0.02, py + 0.03, py - 0.03 * num_labels) gr.setlinetype(1) gr.setlinecolorind(1) gr.setlinewidth(1) gr.drawrect(px - 0.08, px + w + 0.02, py + 0.03, py - 0.03 * num_labels) i = 0 gr.uselinespec(" ") for (x, y, z, c, spec) in _plt.args: gr.savestate() mask = gr.uselinespec(spec) if mask in (0, 1, 3, 4, 5): gr.polyline([px - 0.07, px - 0.01], [py, py]) if mask & 2: gr.polymarker([px - 0.06, px - 0.02], [py, py]) gr.restorestate() gr.settextalign(gr.TEXT_HALIGN_LEFT, gr.TEXT_VALIGN_HALF) if i < num_labels: gr.textext(px, py, _plt.kwargs['labels'][i]) i += 1 py -= 0.03 gr.selntran(1) gr.restorestate()
gr.setviewport(0.1, 0.95, 0.1, 0.95) gr.setwindow(50, 25000, 0, 100) gr.setscale(1) start = time.time() while time.time() - start < 10: try: power = get_spectrum() peakind = signal.find_peaks_cwt(power, numpy.array([5])) except (IOError): continue gr.clearws() gr.setlinewidth(1) gr.setlinecolorind(1) gr.grid(1, 5, 50, 0, 1, 2) gr.axes(1, 5, 50, 0, 1, 2, -0.008) gr.setcharheight(0.020) gr.text(0.15, 0.965, '100Hz') gr.text(0.47, 0.965, '1kHz') gr.text(0.79, 0.965, '10kHz') gr.setlinecolorind(4) gr.polyline(f[1:], power[1:]) for p in peakind: if power[p] > 10: gr.setlinewidth(2) gr.setlinecolorind(2) xe, ye = parabolic(f[p], power, p) print(xe, ye)
def main(): ymin, ymax = 0.0, 5.0 timestep = 0.03 kp, ki, kd = 0.5, 8.0, 0.001 pid = PIDController(kp, ki, kd, (ymax - ymin) / 2, timestep, min_output=0, max_output=1.0) plant = EmaFilter(alpha=0.7) init_plot_window(0, 1, 0, 1) queue_size = 100 t = deque(maxlen=queue_size) y1 = deque(maxlen=queue_size) y2 = deque(maxlen=queue_size) counter = 0 target = 0.0 t0 = time() while True: start = time() if counter % 100 == 0: target = np.random.randint(low=1, high=5) pid.setpoint = target / ymax # Normalize to lie inside [0, 1] # Simulation of measured input plant_value = plant.ema(pid.output * (ymax - ymin)) pid.update(plant_value / (ymax - ymin), time()) t.append(time() - t0) y1.append(target) y2.append(pid.output * (ymax - ymin)) if counter > 0: xmin, xmax = t[0], t[-1] # ymin, ymax = min(min(y1), min(y2)), max(max(y1), max(y2)) gr.clearws() gr.setwindow(xmin, xmax, ymin, ymax) # Target gr.setlinewidth(2) linecolor(0, 0, 1.0) gr.polyline(t, y1) # Controller value gr.setlinewidth(2) linecolor(1.0, 0, 0) gr.polyline(t, y2) gr.setlinewidth(1) linecolor(0, 0, 0) draw_axes(1.0, 5.0 / 10, xmin, ymin, x_major=2, y_major=2) gr.updatews() counter += 1 sleep(max(timestep - (time() - start), 0.0))
gr.setviewport(0.1, 0.95, 0.1, 0.95) gr.setwindow(50, 25000, 0, 100) gr.setscale(1) start = time.time() while time.time() - start < 10: try: power = get_spectrum() peakind = signal.find_peaks_cwt(power, np.array([5])) except (IOError): continue gr.clearws() gr.setlinewidth(1) gr.setlinecolorind(1) gr.grid(1, 5, 50, 0, 1, 2) gr.axes(1, 5, 50, 0, 1, 2, -0.008) gr.setcharheight(0.020) gr.text(0.15, 0.965, '100Hz') gr.text(0.47, 0.965, '1kHz') gr.text(0.79, 0.965, '10kHz') gr.setlinecolorind(4) gr.polyline(f[1:], power[1:]) for p in peakind: if power[p] > 10: gr.setlinewidth(2) gr.setlinecolorind(2) xe, ye = parabolic(f[p], power, p) print(xe, ye)
def _draw_axes(kind, pass_=1): global _plt viewport = _plt.kwargs['viewport'] vp = _plt.kwargs['vp'] x_tick, x_org, x_major_count = _plt.kwargs['xaxis'] y_tick, y_org, y_major_count = _plt.kwargs['yaxis'] gr.setlinecolorind(1) gr.setlinewidth(1) diag = ((viewport[1] - viewport[0])**2 + (viewport[3] - viewport[2])**2)**0.5 charheight = max(0.018 * diag, 0.012) gr.setcharheight(charheight) ticksize = 0.0075 * diag if kind in ('wireframe', 'surface', 'plot3', 'scatter3', 'trisurf'): z_tick, z_org, z_major_count = _plt.kwargs['zaxis'] if pass_ == 1: gr.grid3d(x_tick, 0, z_tick, x_org[0], y_org[1], z_org[0], 2, 0, 2) gr.grid3d(0, y_tick, 0, x_org[0], y_org[1], z_org[0], 0, 2, 0) else: gr.axes3d(x_tick, 0, z_tick, x_org[0], y_org[0], z_org[0], x_major_count, 0, z_major_count, -ticksize) gr.axes3d(0, y_tick, 0, x_org[1], y_org[0], z_org[0], 0, y_major_count, 0, ticksize) else: if kind == 'heatmap': ticksize = -ticksize else: gr.grid(x_tick, y_tick, 0, 0, x_major_count, y_major_count) gr.axes(x_tick, y_tick, x_org[0], y_org[0], x_major_count, y_major_count, ticksize) gr.axes(x_tick, y_tick, x_org[1], y_org[1], -x_major_count, -y_major_count, -ticksize) if 'title' in _plt.kwargs: gr.savestate() gr.settextalign(gr.TEXT_HALIGN_CENTER, gr.TEXT_VALIGN_TOP) gr.textext(0.5 * (viewport[0] + viewport[1]), vp[3], _plt.kwargs['title']) gr.restorestate() if kind in ('wireframe', 'surface', 'plot3', 'scatter3', 'trisurf'): x_label = _plt.kwargs.get('xlabel', '') y_label = _plt.kwargs.get('ylabel', '') z_label = _plt.kwargs.get('zlabel', '') gr.titles3d(x_label, y_label, z_label) else: if 'xlabel' in _plt.kwargs: gr.savestate() gr.settextalign(gr.TEXT_HALIGN_CENTER, gr.TEXT_VALIGN_BOTTOM) gr.textext(0.5 * (viewport[0] + viewport[1]), vp[2] + 0.5 * charheight, _plt.kwargs['xlabel']) gr.restorestate() if 'ylabel' in _plt.kwargs: gr.savestate() gr.settextalign(gr.TEXT_HALIGN_CENTER, gr.TEXT_VALIGN_TOP) gr.setcharup(-1, 0) gr.textext(vp[0] + 0.5 * charheight, 0.5 * (viewport[2] + viewport[3]), _plt.kwargs['ylabel']) gr.restorestate()
def drawGR(self): lwidth = gr.inqlinewidth() gr.setlinewidth(0.) PlotAxes.drawGR(self) gr.setlinewidth(lwidth)
def draw_observation_lines(x, observations): gr.setlinewidth(1) for (r, b) in observations: x1, x2 = x[0], x[0] + r * np.cos(b + x[2]) y1, y2 = x[1], x[1] + r * np.sin(b + x[2]) gr.polyline([x1, x2], [y1, y2])